Movable range indicating apparatus for mobile crane vehicle

ABSTRACT

The present invention relates to a movable range indicating apparatus, for a mobile crane vehicle, which can easily display a movable range of a telescopic boom end and secure safety of a crane operation. To this end, the apparatus comprises a boom length detecting means (1), a boom angle detecting means (2), a turning position detecting means (3), a load detecting means (4), an operating condition inputting means (5), a display section (9) for indicating in rectangular coordinates, and a control section (8) for performing calculation or storage, and indicates by superimposition an image of a rated operating radius (23) and an image of an end position (24) of the telescopic boom on the display section. In addition, a target point (41) of the telescopic boom end can be indicated by superimposition.

TECHNICAL FIELD

The present invention relates to a movable range indicating apparatusfor a mobile crane vehicle, and more particularly, to a movable rangeindicating apparatus for a telescopic boom end of a mobile cranevehicle.

BACKGROUND ART

Hitherto, mobile cranes have included a revolving superstructure, whichhas been provided on a self-movable base carrier; and a telescopic boom,which extends and contracts in a plurality of stages, has been mountedto the revolving superstructure. In addition, a hook is suspended fromthe distal end of the telescopic boom via a cable, and a crane operationis performed using the hook. When performing the crane operation, anoperator is required to discern the condition of the telescopic boom atall times.

To this end, conventional movable range indicating apparatuses formobile crane vehicles, etc., as shown in FIG. 19, adopt polarcoordinates, in which a radial direction is taken as an operating radiusor a load factor and a circumferential direction is taken as a turningangle (refer to, for example, Japanese Examined Patent Publication No.3-17759, Japanese Unexamined Patent Publication No. 3-67895, andJapanese Unexamined Utility Model Publication No. 3-130291). Accordingto these apparatuses, a rated operating radius, corresponding to acurrent actual lifting load, is calculated for each turning angle so asto be taken as the actual operating radius. In the above polarcoordinates, a telescopic boom end position 61, obtained from the actualoperating radius and the actual turning position, and a rated operatingradius 62 (limit movable range) for each turning angle are indicated bysuperimposed images.

In general, however, since a sensation of the operator is formed on thebasis of the rectangular coordinates, the sensation with respect to arotary motion (angle) is often worse than the sensation with respect toa linear motion (distance). In other words, since the direction of theoperating radius (back and forth) is taken as the linear motion, and theturning (left and right) direction is taken as the rotary motion in thepolar coordinates, it is not easy to perceive the dangers in the turningdirection as compared to the direction of the operating radius. Inaddition, it is quite remarkable that many accidents in the craneoperation happen during turning. That is, according to the conventionalart, one problem exists in that the angle is discerned as a measure whenperceiving the dangers in the turning direction.

Further, most of the conventional apparatuses have an operation rangelimit function of moving the telescopic boom of the mobile crane vehicleto a desired position in order to set the movable range, and of soundingan alarm and of limiting the action of the telescopic boom when the endof the telescopic boom reaches the boundary of the movable range duringthe crane operation. For this reason, information about the movablerange of the telescopic boom cannot be obtained from the indicatingapparatus, and the operator cannot completely discern the operatingradius and the turning range, so that there is a malfunction such thatensuring safety of the operation is hindered.

Next, another prior art apparatus has been known which subjects a craneto a simulation operation, allows a movable range of a revolvingsuperstructure including an operating machine to be stored, and suspendsthe operation of the crane and gives a warning based on the storedinformation (refer to, for example, Japanese Unexamined PatentPublication No. 56-75393). Further, according to an indicating apparatusput into practical use (refer to, for example, Japanese UnexaminedPatent Publication No. 5-58589), as shown in FIG. 20, a limit movablerange 63 and a telescopic boom end position 64 are indicated bysuperimposition, taking the X-coordinate a as the operating radius andthe Y-coordinate b as the lift of the telescopic boom.

However, when the crane is subjected to the simulation operation by thedescribed arrangements to set the movable range, the setting is usuallyperformed without a load being suspended, but the rated operating radiusis changed by a lifting load in a load suspending operation. Therefore,even within the limited movable range, the boom may be overloaded,depending upon the lifting load. That is, since a region where the boomis overloaded cannot be discerned from the movable range indicated imageof the above prior art, there arises a problem in that a suitableadvance measure for the prevention of the dangers cannot be taken.

SUMMARY OF THE INVENTION

The present invention has been made to solve the problems of the priorart, and its object is to provide a movable range indicating apparatus,for a mobile crane vehicle, which can easily and accurately display amovable range of a telescopic boom end, and ensure safety of a craneoperation.

In a first aspect of a movable range indicating apparatus for a mobilecrane vehicle according to the present invention, there is provided amovable range indicating apparatus comprising: a boom length detectingmeans; a boom angle detecting means; a load detecting means; a turningposition detecting means; an operating condition inputting means forinputting operating conditions of a revolving superstructure and a basecarrier and/or an operating condition detecting means for detecting theoperating conditions; a display section capable of indicating images inrectangular coordinates, in which the turning position is taken as theX-coordinate and an operating radius is taken as the Y-coordinate; and acontrol section for performing calculations based on signals from eachof the means, and for outputting the calculation results to the displaysection; wherein the control section calculates a current actual load, arated operating radius for each turning position in a state ofsuspending the actual load, and an end position of a telescopic boom;and wherein the display section indicates an image of the ratedoperating radius and an image of the end position of the telescopic boomat the corresponding positions on the rectangular coordinates bysuperimposition. In addition, a target point setting means for settingthe target point of the telescopic boom can be attached, and the targetpoint can be indicated on the display section by superimposition.Further, the target point and its neighborhood can be indicated on thedisplay section under enlargement.

By the described arrangements, the rated operating radius for eachturning angle, with respect to the current lifting load, and the currenttelescopic boom end position are indicated by superimposition on thedisplay section of rectangular coordinates, where the turning positionis taken on the X-coordinate and the operating radius is taken on theY-coordinate, whereby an operator can make an accurate judgment. Inaddition, when indicating the target point by superimposition, thelocation of the rated operating radius in relation to the target pointis determined at the time of separating the load from the ground(immediately after initially lifting the load). Therefore, at the timeof separating the load from the ground, depending on the fact of whetherthe target point is located on the inside or on the outside of theoperating radius, it can be judged whether or not the boom can reach thetarget point without being overloaded. Moreover, an operation stroke ofthe boom before reaching the target point can also be immediatelydiscerned from the indicated image. Further, when indicating theneighborhood of the target point under enlargement, the boom can beaccurately adjusted to the target point.

In a second aspect of a movable range indicating apparatus for a mobilecrane vehicle according to the present invention, there is provided amovable range indicating apparatus comprising: a boom length detectingmeans; a boom angle detecting means; a load detecting means; a movablerange setting means; a turning position detecting means; an operatingcondition inputting means for inputting operating conditions of arevolving superstructure and a base carrier and/or an operatingcondition detecting means for detecting the operating conditions; adisplay section capable of indicating images in rectangular coordinates,in which a turning angle is taken as the X-coordinate and an operatingradius is taken as the Y-coordinate; and a control section forperforming calculations based on signals from each of the means, and foroutputting the calculation results to the display section; wherein thecontrol section calculates a current actual load, a rated operatingradius for each turning position in a state of suspending the actualload, a limit operating radius obtained by comparing the rated operatingradius with an operating radius limit value based on the movable rangesetting means, and an end position of a telescopic boom; and wherein thedisplay section indicates an image of either the rated operating radiusor the limit operating radius, and an image of the end position of thetelescopic boom at the corresponding positions on the rectangularcoordinates by superimposition.

By the described arrangements, the end position of the telescopic boomis indicated and, at the same time, the rated operating radiusdetermined by the current suspended load, and the limited movable range,or the smaller one of the rated operating radius and the movable rangeis indicated by superimposition over the entire turning area, so that asafe operable range of the boom can be discerned.

In a third aspect of a movable range indicating apparatus for a mobilecrane vehicle according to the present invention, there is provided amovable range indicating apparatus comprising: a boom length detectingmeans; a boom angle detecting means; a load detecting means; anoperating condition inputting means for inputting operating conditionsof a revolving superstructure and a base carrier and/or an operatingcondition detecting means for detecting the operating conditions; amovable range setting means capable of setting movable ranges for atleast the lift of a telescopic boom, the operating radius, and thetelescopic boom derricking angle; a display section capable ofindicating images in rectangular coordinates, in which the operatingradius is taken as the X-coordinate and the lift of the telescopic boomis taken as the Y-coordinate; and a control section for performingcalculations based on signals from each of the means, and for outputtingthe calculation results to the display section; wherein the controlsection calculates an actual load in a current attitude of thetelescopic boom, a rated operating radius under the actual load, and anend position of the telescopic boom; and wherein the display sectionindicates an image of the end position of the telescopic boom, an imageof the movable range, and an image of the rated operating radius at thecorresponding positions on the rectangular coordinates bysuperimposition. In addition, a cable length detecting means and a hooklift calculating means, for calculating the lift of a hook based on asignal from the cable length detecting means, can be attached, and thelift position of the hook can be indicated on the display section bysuperimposition.

By the described arrangements, the rated operating radius due to thecurrent lifting load, the limited movable range, and the telescopic boomend position are indicated by superimposition of images on therectangular coordinates, whereby the operator can intuitively andaccurately discern the movable range of the crane in raising, lowering,extending, and contracting operations of the crane, even if the boom isoverloaded within the limited movable range of the crane. In addition,by indicating the hook lift position by superimposition, the situationsof the movable range and the suspended load can be discernedsimultaneously.

In a fourth aspect of a movable range indicating apparatus for a mobilecrane vehicle according to the present invention, there is provided amovable range indicating apparatus comprising: a boom length detectingmeans; a boom angle detecting means; a turning position detecting means;a load detecting means; a movable range setting means; a display sectioncapable of indicating images in polar coordinates, in which the turningangle is taken in the circumferential direction and the operating radiusis taken in the radial direction; and a control section for performingcalculations based on signals from each of the means, and for outputtingthe calculation results to the display section; wherein the controlsection calculates a current actual operating radius, a current actualload, a rated operating radius for each turning position in a state ofsuspending the actual load, and a limit operating radius obtained bycomparing the rated operating radius with an operating radius limitvalue set by the movable range setting means; and wherein the displaysection indicates the actual operating radius and the limit operatingradius at the corresponding positions on the polar coordinates bysuperimposition. In addition, a target point setting means for settingthe target point of the telescopic boom end can be attached, and thetarget point can be indicated on the display section by superimposition.

The described arrangement of the fourth aspect adopts the indication inthe polar coordinates, while the rectangular coordinates are adopted inthe above third aspect, whereby the same action and effect as those ofthe third aspect can be obtained.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a system block diagram of a movable range indicating apparatusaccording to a first embodiment of the present invention;

FIG. 2 is an external view of the movable range indicating apparatus,according to the first embodiment, in which an operating conditioninputting (or detecting) means, a movable range setting means, anindicator for detected values from each of the means, and a displaysection, comprising a multidisplay, are combined in a single unit;

FIG. 3 is an illustration of the display section, according to the firstembodiment, which indicates by superimposition a boom end position and arated operating radius on the bases of a revolving superstructure inrectangular coordinates;

FIG. 4 is an illustration of the display section in which a base carrieris the basis in contrast with FIG. 3;

FIG. 5 is an illustration of a case where a movable range is indicatedby superimposition on the corresponding position of FIG. 3;

FIG. 6 is an illustration of the display section, according to the firstembodiment, which indicates by superimposition a boom end position and alimit operating radius on the basis of the revolving superstructure inthe rectangular coordinates;

FIG. 7 is an illustration of a case where a target point is indicated bysuperimposition on the corresponding position of FIG. 3;

FIGS. 8A and 8B are drawings of a case where a part of the indicatedimage of FIG. 7 is enlarged, in which FIG. 8A is an illustration of anextended object range, and FIG. 8B is an illustration of an example ofan enlargement of a portion of the indication;

FIG. 9 is a system block diagram of a movable range indicating apparatusaccording to a second embodiment of the present invention;

FIG. 10 is an illustration of a display section, according to the secondembodiment, which indicates by superimposition a movable range, a boomend position, and a rated operating radius in rectangular coordinates;

FIG. 11 is an illustration of the display section which indicates a hooklift position by superimposition on FIG. 10;

FIG. 12 is a side view of a mobile crane vehicle to which a movablerange indicating apparatus, according to a third embodiment of thepresent invention, is applied;

FIG. 13 is an illustration of a display section, according to the thirdembodiment, which indicates by superimposition a limit operating radiusand an actual operating radius on the basis of the base carrier in polarcoordinates;

FIG. 14 is an illustration of the display section in which a revolvingsuperstructure is the basis in contrast with FIG. 13;

FIG. 15 is an illustration of the display section which indicates targetpoints by superimposition on FIG. 13;

FIGS. 16 to 18 are drawings according to the third embodiment which showchanges in the movable range with respect to different suspended loads,in which FIG. 16 is an illustration of a case where the suspended loadis a medium load; FIG. 17 is an illustration of a case where thesuspended load is a light load; and FIG. 18 is an illustration of a casewhere the suspended load is a heavy load;

FIG. 19 is an illustration of an example of indication of a movablerange indicating apparatus in polar coordinates according to a priorart; and

FIG. 20 is an illustration of an example of the indication of a movablerange indicating apparatus in rectangular coordinates according toanother prior art.

BEST MODE FOR CARRYING OUT THE INVENTION

The preferred embodiments of a movable range indicating apparatus for amobile crane vehicle according to the present invention will bedescribed in detail with reference to the attached drawings.

FIG. 1 illustrates a movable range indicating apparatus according to afirst embodiment, which is roughly composed of various means forperforming detection, etc., a control section 8, and a display section9. Each of the means for performing detection comprises a detectingmeans or an inputting means, such as a boom length detecting means 1, aboom angle detecting means 2, a turning position detecting means 3, aload detecting means 4, and an operating condition inputting means (oran operating condition detecting means 5. In addition, a movable rangesetting means 6 and/or a target point setting means 7 can be included asnecessary.

The above operating condition inputting (or detecting) means 5 is usedfor setting an operating condition before starting a crane operation,and inputs (or detects) operation modes of a revolving superstructureand a base carrier. For example, as regards the revolvingsuperstructure, any one of boom, single top, and jib operations can beselected and inputted. In the boom operation, the number of falls of awire cable for a load suspending hook can be inputted in addition to anormal boom operation. On the other hand, as regards the base carrier,any one of outrigger, on-tire, and suspending travel operations can beselected and inputted. When selecting the outrigger operation, anoutrigger projecting width is automatically inputted and set by anoutrigger length detecting means.

The above movable range setting means 6 is used for limiting the movablerange in the crane operation, and sets the movable range responsive toan obstacle, etc. The setting is selected, depending on a limitation ofthe selected one of the crane operations, such as boom angle upper/lowerlimit, operating radius, boom height, boom length, and turning angleoperations, and is set by a setting switch. The setting method isperformed by moving a crane vehicle in advance to an operating positionto be controlled, and at that position, by pushing the setting switchcorresponding to the operation to be limited. This allows the applicableoperational limitation in the crane operation to be stored in a movablerange storage means 56 to be described later. Incidentally, the movablerange setting means can include a means for setting the rangeone-dimensionally or three-dimensionally.

The setting of the above target point setting means 7 is performed bymoving the crane vehicle to a predetermined operating position, bymoving the boom to a target point at that position, and by pushing thesetting switch. The set items, such as the operating radius and theturning position, the lift of the hook or the lift of the boom, asnecessary, are stored in a target point storage means 58, to bedescribed later.

In addition, the control section 8 comprises an actual operating radiuscalculating means 51, a turning position calculating means 52, an actualload calculating means 53, a rated total load curve storage means 54,and a rated operating radius calculating means 55. Further, a movablerange storage means 56, a limit radius calculating means 57, and/or atarget point storage means 58 can be included as necessary.

The actual operating radius calculating means 51 calculates the actualoperating radius based on the boom length and the boom angle, inputtedfrom the boom length detecting means 1 and the boom angle detectingmeans 2. In addition, the turning position calculating means 52calculates the turning position from the detected value of the turningposition detecting means 3. The above actual operating radius and theturning position become an end position of the telescopic boom, and areinputted to the display section 9. The actual load calculating means 53calculates the current actual load based on the boom length, the boomangle, the load, and the operating condition, obtained from the boomlength detecting means 1, the boom angle detecting means 2, the loaddetecting means 4, and the operating condition inputting (or detecting)means 5, and outputs the actual load to the rated operating radiuscalculating means 55. Further, the rated total load curve storage means54 selects the applicable rated total load curve from the previouslystored rated total load curves based on the boom length, the turningposition, and the operating condition, obtained from the boom lengthdetecting means 1, the turning position detecting means 3, and theoperating condition inputting (or detecting) means 5, and outputs it tothe rated operating radius calculating means 55. The rated operatingradius calculating means 55 calculates the rated operating radius fromthe actual load and the rated total load curve, and outputs it to thedisplay section 9.

The movable range storage means 56, which can be included as necessary,outputs the movable range (in this embodiment, the movable range withrespect to the operating radius and the turning angle) set by themovable range setting means 6 to the limit radius calculating means 57.Incidentally, in the turning angle range where turning is impossible,the movable range is outputted as a range having no movable range of theoperating radius, i.e., as "0". Next, the limit radius calculating means57 compares the rated operating radius with the movable range for eachturning position, and outputs the smaller one as the limit radius to thedisplay section 9. That is, the limit radius calculating means 57obtains an "AND region" between the rated operating radius and themovable range. In this case, an output from the rated operating radiuscalculating means 55 to the display section 9 is not performed.Incidentally, the rated operating radius, from the rated operatingradius calculating means 55, and the movable range, from the movablerange storage means 56, can be outputted to the display section 9without performing calculation or including the limit radius calculatingmeans 57. Further, the target point storage means 58, which can beincluded as necessary, outputs the target point from the target pointsetting means 7 to the display section 9.

FIG. 2 illustrates an example of the movable range indicating apparatuswhich comprises an operating condition inputting (or detecting) means 5for inputting (or detecting) operation modes of the revolvingsuperstructure and the base carrier, a switch-type movable range settingmeans 6 for setting a boom length and boom angle upper limit/lowerlimits, etc., and a display section 9 of multidisplay.

Examples of indication of the movable range by the describedarrangements will be described.

FIG. 3 indicates a rated operating radius 23 and a telescopic boom endposition 24 by superimposition, using the revolving superstructure (inthis embodiment, the front of an operator) as the origin. Incidentally,the present coordinate system is rectangular coordinates in which theX-coordinate 22 is taken as the turning position (turning angle) and theY-coordinate 21 is taken as the operating radius. In addition, theturning angle indicating range is not limited to the whole circumference(from -180° to +180°), but can be partial, for example, from -90° to+90°. The indication is on an operator basis, and the operator canaccurately and easily discern the movable range of the crane.

FIG. 4 indicates the rated operating radius 23, and the telescopic boomend 24 by superimposition on the basis (origin) of the base carrier. Inthe case of this indication, the direction of the revolvingsuperstructure with respect to the base carrier can be easily discerned.

In addition, as shown in FIGS. 3 and 4, when moving from position P1 toposition P2, and from position P3 to position P4, respectively, it canbe obviously read from the indicated image that, while turningrightwardly, the operator can raise the boom once to keep away from adangerous area and then can perform a lowering operation again.

FIG. 5 shows a case where a movable range from the movable range storagemeans 56 is indicated by superimposition on the corresponding positionof the rectangular coordinates of FIG. 3. This movable range isindicated with a left-turning limit 31, a right-turning limit 32, aradius-turning composite limit 33, and a radius limit 34.

FIG. 6 is an example which indicates an "AND region" between the ratedoperating radius 23 and the above movable range, i.e., a limit radiusregion 35 obtained by the limit radius calculating means 57 (see FIG.1). It is apparent from this example of indication that the operator caneasily perform the operation of the telescopic boom end position 24 withsafety.

FIG. 7 is an example in which a target point 41, based on the operatingradius and the turning angle of the target point storage means 58 (seeFIG. 1), is indicated by superimposition on the corresponding positionof the rectangular coordinates of FIG. 3. The number of target points 41can be more than one, as necessary. By such a displayed image, a safemoving stroke from the present telescopic boom end 24 to the targetpoint 41 can immediately be judged by viewing a screen. That is, it isunderstood that the operations can be done as indicated by arrows 24a,24b. In addition, when a lifting load is different, for example, it canbe judged that the boom is overloaded at the target point 42 or in themoving stroke immediately after the load has been separated from theground, so that a suitable and prompt measure, such as suspension ofoperation, can be taken.

FIGS. 8A and 8B are examples in which an extended object range 9a isindicated under enlargement. The indication under enlargement is usefulfor a case where the telescopic boom end 24 cannot be seen due to anobstacle such as a wall. That is, when the telescopic boom end 24approaches the target point 41, a detailed position can be discerned byenlarging a portion of the extended object range 9a, so that an accurateoperation can be performed. Incidentally, such a function would bedifficult in a polar coordinates indication system.

As described above in detail, similar to the direction of the operatingradius, the operator can also discern the movable range of the crane andthe telescopic boom end position regarding the turning direction with asense of distance. Moreover, the up, down, left, and right directions inwhich the telescopic boom moves on the image are in correspondence withthe back, forth, left, and right operating directions of the crane, sothat they can be discerned intuitively, and at the same time they arevery useful for ensuring safety of the crane operation.

Next, a second embodiment of a movable range indicating apparatus for amobile crane vehicle according to the present invention will bedescribed with reference to the attached drawing.

Referring to FIG. 9, the movable range indicating apparatus of thisembodiment is roughly composed of various detecting means, a controlsection 107, and a display section 9, and has a basic configurationsimilar to that of FIG. 1. The detecting means can be composed of a boomlength detecting means 1, a boom angle detecting means 2, a loaddetecting means 4, an operating condition inputting (or detecting) means5, a movable range inputting means 6, and a cable length detecting means108, as necessary.

The control section 107 comprises a means for calculating or storing,based on information from each of the above detecting means. A boom endposition calculating means 111 calculates the boom end position based onthe boom length, the boom angle, and the operating condition from theboom length detecting means 1, the boom angle detecting means 2 and theoperating condition inputting (or detecting) means 5, and outputs it tothe display section 9. An actual load calculating means 53 calculatesthe actual load similar to the first embodiment. A rated total loadcurve storage means 112 selects the applicable rated total load curvefrom the previously stored rated total load curves based on the valuesfrom the boom length detecting means 1 and the operating conditioninputting (or detecting) means 5, and outputs it to a rated operatingradius calculating means 113.

The above rated operating radius calculating means 113 calculates therated operating radius from the actual load of the actual loadcalculating means 53 and the rated total load of the rated total loadcurve storage means 112, and outputs it to the display section 9.Although a movable range storage means 56 stores the movable rangesimilar to the first embodiment, it outputs the movable range directlyto the display section. In addition, a hook lift calculating means,included as necessary, calculates the hook lift position based on thecable length from the cable length detecting means 108 to outputdirectly to the display section 9. The external appearance of themovable range indicating apparatus constructed as described above is thesame as that of FIG. 2.

An example of indication of the movable range by the describedarrangements will be described. FIG. 10 illustrates the display section9 of rectangular coordinates in which the operating radius is taken asthe X-coordinate 121 and the lift of the telescopic boom is taken as theY-coordinate 122. The movable range is indicated on the display section9 by a boom angle upper limit 132, a boom angle lower limit 133, a liftlimit 134, an operating radius limit 135, and a boom length limit 136outputted from the movable range storage means 56, and at the same timea boom end position 124 and a rated operating radius 123, due to thepresent lifting load, are indicated by superimposition. For example, itcan be judged that the boom is overloaded when the boom end position 124goes across the rated operating radius 123 due to a lowering operationof the boom. FIG. 11 indicates a hook lift position 125 bysuperimposition on FIG. 10, so that the movable range of the boom andthe situation (height, etc.) of a suspended load can be discernedsimultaneously. Therefore, in this embodiment, steps can be taken toavoid a dangerous condition, whereby safety of the crane operation isensured.

Next, a third embodiment, of a movable range indicating apparatus for acrane vehicle according to the present invention, will be described withreference to the attached drawings. In this embodiment, an image isindicated in polar coordinates, while the image is indicated inrectangular coordinates in the first embodiment. Therefore, each of thedetecting means, the control section (calculating or storage means), andthe display section (multidisplay) are the same as those of FIGS. 1 and2.

Referring to FIG. 12, a revolving superstructure 202 is revolvablyprovided on a self-movable base carrier 201, and a telescopic boom 204,which is vertically swingable due to a boom cylinder 203, is mounted tothe revolving superstructure 202. The above telescopic boom 204 canextend and contract in a plurality of stages, and a hook 206 issuspended from the tip thereof by a cable 205. In addition, thetelescopic boom 204 is provided with a boom length detecting means 1,for detecting the extension length, and a boom angle detecting means 2,for detecting the angle of the telescopic boom 204. In addition, aturning section of the revolving superstructure 202 is provided with aturning position detecting means 3, the boom cylinder 203 is providedwith a load detecting means 4, and operating condition inputting (ordetecting) means 5 are provided across the base carrier 201. Theoperating condition inputting (or detecting) means 5 in this embodimentadds a function of detecting the projecting and installation conditionsof the outriggers to the first embodiment. Incidentally, this additioncan be performed with respect to the above second embodiment.

In addition, a movable range setting means 6 and, as necessary, a targetpoint setting means 7 are included in addition to the above detectingmeans 1 to 5. Information from these means 1 to 7 is inputted to acontrol section 8, shown in FIG. 1, to be calculated or stored, andoutputted to the display section 9. On this display section 9, the imageis indicated in polar coordinates as described above.

Examples of indication of the movable range by the describedarrangements will be described.

FIG. 13 shows the polar coordinates in which the operating radius istaken in the radial direction and the turning angle is taken in thecircumferential direction, and the base carrier 201, which becomes thebasis, is indicated so as to face upwardly on the screen at all times.Numeral 230 denotes an actual operating radius (and an actual turningposition), and numeral 231 denotes a limit operating radius with respectto the current load.

On the other hand, in FIG. 14, the revolving superstructure 202, whichbecomes the basis, is indicated so as to face upwardly on the screen atall times. Numeral 232 denotes a projecting condition of the outriggers,and numeral 233 denotes an installation condition of the outriggers. Inaddition, regarding round marks illustrated at the tips, black dots showa grounding condition and open circles show a floating condition, forexample. By indicating the projecting condition of the outriggers andgrounding condition together with a radius-turning composite range limit234 by superimposition, the movable range of the telescopic boom 204 canbe discerned under direct vision.

FIG. 15 illustrates a case where target points 236 and 237 are indicatedby superimposition. By this, immediately after the suspended load hasbeen separated from the ground, it can be judged whether or not thetarget points are within the movable range of the telescopic boom 204,so that the crane operation can be efficiently performed. Although thetarget point 236 shows the movable range, the target point 237 showsthat the boom is overloaded, whereby a suitable measure, such assuspension of the operation, is taken. Such an indication is usefulparticularly for a blind operation and a repetitive operation, etc.

FIGS. 16 to 18 illustrates changes in the movable range when thesuspended load is different, in which numeral 240 denotes a turninglimit, numeral 241 denotes a rated operating radius due to the currentsuspended load, and numeral 242 (a diagonally shaded area) denotes amovable range. Incidentally, the dotted-line areas of the turning limit240 and the rated operating radius 241 mean limits beyond the movablerange 242. Therefore, the operator can easily perform an operationcorresponding to the movable range 242, which is changed by thesuspended load. In addition, an interference with an obstacle can beprevented by dealing with it beforehand.

INDUSTRIAL APPLICABILITY

The present invention is useful as a movable range indicating apparatusfor a mobile crane vehicle which enables an accurate and promptjudgement, and which can be easily operated with safety since atelescopic boom end position, a rated operating radius or apredetermined movable range, and a target point, as necessary, areindicated on the rectangular coordinates or on the polar coordinates bysuperimposition.

I claim:
 1. A movable range indicating apparatus which is suitable foruse on a mobile crane vehicle having a base carrier, a revolvablesuperstructure which is revolvably mounted on the base carrier, and avertically swingable telescopic boom which is mounted to the revolvingsuperstructure, said apparatus comprising:a boom length detecting means,for detecting a length of the telescopic boom; a boom angle detectingmeans, for detecting a derricking angle of the telescopic boom; a loaddetecting means, for detecting an actual load acting on the telescopicboom; a turning position detecting means, for detecting a turningposition of the telescopic boom; an operating condition inputting means,for inputting operating conditions of the revolvable superstructure andthe base carrier; a display section, capable of indicating images inrectangular coordinates in which said turning position is taken as anX-coordinate and an operating radius is taken as a Y-coordinate; and acontrol section, for performing calculations based on signals from eachof said means, and for outputting calculation results to said displaysection; wherein said control section calculates a current actual load,a rated operating radius for each turning position in a state ofsuspending said actual load, and an end position of the telescopic boom;and wherein said display section indicates an image of said ratedoperating radius and an image of the end position of said telescopicboom at corresponding positions on said rectangular coordinates bysuperimposition.
 2. A movable range indicating apparatus in accordancewith claim 1, wherein said operating condition inputting means comprisesat least one operating condition detecting means for detecting anoperating condition.
 3. A movable range indicating apparatus inaccordance with claim 1, further comprising a target point settingmeans, for setting a target point of a distal end of the telescopicboom; and wherein said target point is indicated on said display sectionby superimposition.
 4. A movable range indicating apparatus inaccordance with claim 3, wherein an enlargement of said target point andits neighborhood is indicated on said display section.
 5. A movablerange indicating apparatus which is suitable for use on a mobile cranevehicle having a base carrier, a revolvable superstructure which isrevolvably mounted on the base carrier, and a vertically swingabletelescopic boom which is mounted to the revolving superstructure, saidapparatus comprising:a boom length detecting means, for detecting alength of the telescopic boom; a boom angle detecting means, fordetecting a derricking angle of the telescopic boom; a load detectingmeans, for detecting an actual load acting on said telescopic boom; amovable range setting means; a turning position detecting means, fordetecting a turning position of the telescopic boom; an operatingcondition inputting means, for inputting operating conditions of therevolving superstructure and the base carrier; a display section,capable of indicating images in rectangular coordinates in which aturning angle is taken as the X-coordinate and an operating radius istaken as the Y-coordinate; and a control section, for performingcalculations based on signals from each of said means, and foroutputting calculation results to said display section; wherein saidcontrol section calculates a current actual load, a rated operatingradius for each turning position in a state of suspending said actualload, a limit operating radius obtained by comparing said ratedoperating radius with an operating radius limit value based on saidmovable range setting means, and an end position of the telescopic boom;and wherein said display section indicates an image of either said ratedoperating radius or said limit operating radius, and an image of the endposition of said telescopic boom at the corresponding positions on saidrectangular coordinates by superimposition.
 6. A movable rangeindicating apparatus in accordance with claim 5, wherein said operatingcondition inputting means comprises at least one operating conditiondetecting means for detecting an operating condition.
 7. A movable rangeindicating apparatus which is suitable for use on a mobile crane vehiclehaving a base carrier, a revolvable superstructure which is revolvablymounted on the base carrier, and a vertically swingable telescopic boomwhich is mounted to the revolving superstructure, said apparatuscomprising:a boom length detecting means, for detecting a length of thetelescopic boom; a boom angle detecting means, for detecting aderricking angle of the telescopic boom; a load detecting means, fordetecting a load acting on said telescopic boom; an operating conditioninputting means, for inputting operating conditions of the revolvingsuperstructure and the base carrier; a movable range setting means,capable of setting movable ranges for at least a lift of the telescopicboom, an operating radius, and said derricking angle; a display section,capable of indicating images in rectangular coordinates, in which saidoperating radius is taken as an X-coordinate and the lift of saidtelescopic boom is taken as a Y-coordinate; and a control section, forperforming calculations based on signals from each of said means, andfor outputting calculation results to said display section; wherein saidcontrol section calculates an actual load in a current attitude of thetelescopic boom, a rated operating radius under said actual load, and anend position of the telescopic boom; and wherein said display sectionindicates an image of an end position of said telescopic boom, an imageof said movable ranges, and an image of said rated operating radius atthe corresponding positions on said rectangular coordinates bysuperimposition.
 8. A movable range indicating apparatus in accordancewith claim 7, wherein said operating condition inputting means comprisesat least one operating condition detecting means for detecting anoperating condition.
 9. A movable range indicating apparatus inaccordance with claim 7, further comprising:a cable length detectingmeans; and a hook lift calculating means, for calculating a lift of ahook based on a signal from said cable length detecting means; andwherein a lift position of said hook is indicated on said displaysection by superimposition.
 10. A movable range indicating apparatuswhich is suitable for use on a mobile crane vehicle having a basecarrier, a revolvable superstructure which is revolvably mounted on thebase carrier, and a vertically swingable telescopic boom which ismounted to the revolving superstructure, said apparatus comprising:aboom length detecting means, for detecting a length of the telescopicboom; a boom angle detecting means, for detecting a derricking angle ofthe telescopic boom; a turning position detecting means, for detecting aturning position; a load detecting means, for detecting a load acting onsaid telescopic boom; a movable range setting means; a display section,capable of indicating images in polar coordinates in which a turningangle is taken in a circumferential direction and an operating radius istaken in a radial direction; a control section, for performingcalculations based on signals from each of said means, and foroutputting calculation results to said display section; a target pointsetting means, for setting a target point of an end of the telescopicboom; wherein said control section calculates a current actual operatingradius, a current actual load, a rated operating radius for each turningposition in a state of suspending said actual load, and a limitoperating radius obtained by comparing said rated operating radius withan operating radius limit value set by said movable range setting means;wherein said display section indicates said actual operating radius andsaid limit operating radius at corresponding positions on said polarcoordinates by superimposition; and wherein said target point isindicated on said display section by superimposition.
 11. A mobile cranecomprising:a base carrier; a revolvable superstructure which isrevolvably mounted on the base carrier; a vertically swingabletelescopic boom which is mounted to the revolving superstructure; a boomlength detecting means, for detecting a length of the telescopic boom; aboom angle detecting means, for detecting a derricking angle of thetelescopic boom; a load detecting means, for detecting an actual loadacting on the telescopic boom; a turning position detecting means, fordetecting a turning position of the telescopic boom; an operatingcondition inputting means, for inputting operating conditions of therevolvable superstructure and the base carrier; a display section,capable of indicating images in rectangular coordinates in which saidturning position is taken as an X-coordinate and an operating radius istaken as a Y-coordinate; and a control section, for performingcalculations based on signals from each of said means, and foroutputting calculation results to said display section; wherein saidcontrol section calculates a current actual load, a rated operatingradius for each turning position in a state of suspending said actualload, and an end position of the telescopic boom; and wherein saiddisplay section indicates an image of said rated operating radius and animage of the end position of said telescopic boom at correspondingpositions on said rectangular coordinates by superimposition.
 12. Amobile crane in accordance with claim 11, wherein said operatingcondition inputting means comprises at least one operating conditiondetecting means for detecting an operating condition.
 13. A mobile cranein accordance with claim 11, further comprising a target point settingmeans, for setting a target point of a distal end of the telescopicboom; and wherein said target point is indicated on said display sectionby superimposition.
 14. A mobile crane in accordance with claim 13,wherein an enlargement of said target point and its neighborhood isindicated on said display section.
 15. A mobile crane comprising:a basecarrier; a revolvable superstructure which is revolvably mounted on thebase carrier; a vertically swingable telescopic boom which is mounted tothe revolving superstructure; a boom length detecting means, fordetecting a length of the telescopic boom; a boom angle detecting means,for detecting a derricking angle of the telescopic boom; a loaddetecting means, for detecting an actual load acting on said telescopicboom; a movable range setting means; a turning position detecting means,for detecting a turning position of the telescopic boom; an operatingcondition inputting means, for inputting operating conditions of therevolving superstructure and the base carrier; a display section,capable of indicating images in rectangular coordinates in which aturning angle is taken as the X-coordinate and an operating radius istaken as the Y-coordinate; and a control section, for performingcalculations based on signals from each of said means, and foroutputting calculation results to said display section; wherein saidcontrol section calculates a current actual load, a rated operatingradius for each turning position in a state of suspending said actualload, a limit operating radius obtained by comparing said ratedoperating radius with an operating radius limit value based on saidmovable range setting means, and an end position of the telescopic boom;and wherein said display section indicates an image of either said ratedoperating radius or said limit operating radius, and an image of the endposition of said telescopic boom at the corresponding positions on saidrectangular coordinates by superimposition.
 16. A mobile crane inaccordance with claim 15, wherein said operating condition inputtingmeans comprises at least one operating condition detecting means fordetecting an operating condition.
 17. A mobile crane comprising:a basecarrier; a revolvable superstructure which is revolvably mounted on thebase carrier; a vertically swingable telescopic boom which is mounted tothe revolving superstructure; a boom length detecting means, fordetecting a length of the telescopic boom; a boom angle detecting means,for detecting a derricking angle of the telescopic boom; a loaddetecting means, for detecting a load acting on said telescopic boom; anoperating condition inputting means, for inputting operating conditionsof the revolving superstructure and the base carrier; a movable rangesetting means, capable of setting movable ranges for at least a lift ofthe telescopic boom, an operating radius, and said derricking angle; adisplay section, capable of indicating images in rectangularcoordinates, in which said operating radius is taken as an X-coordinateand the lift of said telescopic boom is taken as a Y-coordinate; and acontrol section, for performing calculations based on signals from eachof said means, and for outputting calculation results to said displaysection; wherein said control section calculates an actual load in acurrent attitude of the telescopic boom, a rated operating radius undersaid actual load, and an end position of the telescopic boom; andwherein said display section indicates an image of an end position ofsaid telescopic boom, an image of said movable ranges, and an image ofsaid rated operating radius at the corresponding positions on saidrectangular coordinates by superimposition.
 18. A mobile crane inaccordance with claim 17, wherein said operating condition inputtingmeans comprises at least one operating condition detecting means fordetecting an operating condition.
 19. A mobile crane in accordance withclaim 17, further comprising:a cable length detecting means; and a hooklift calculating means, for calculating a lift of a hook based on asignal from said cable length detecting means; and wherein a liftposition of said hook is indicated on said display section bysuperimposition.
 20. A mobile crane comprising:a base carrier; arevolvable superstructure which is revolvably mounted on the basecarrier; a vertically swingable telescopic boom which is mounted to therevolving superstructure; a boom length detecting means, for detecting alength of the telescopic boom; a boom angle detecting means, fordetecting a derricking angle of the telescopic boom; a turning positiondetecting means, for detecting a turning position; a load detectingmeans, for detecting a load acting on said telescopic boom; a movablerange setting means; a display section, capable of indicating images inpolar coordinates in which a turning angle is taken in a circumferentialdirection and an operating radius is taken in a radial direction; acontrol section, for performing calculations based on signals from eachof said means, and for outputting calculation results to said displaysection; a target point setting means, for setting a target point of anend of the telescopic boom; wherein said control section calculates acurrent actual operating radius, a current actual load, a ratedoperating radius for each turning position in a state of suspending saidactual load, and a limit operating radius obtained by comparing saidrated operating radius with an operating radius limit value set by saidmovable range setting means; wherein said display section indicates saidactual operating radius and said limit operating radius at correspondingpositions on said polar coordinates by superimposition; and wherein saidtarget point is indicated on said display section by superimposition.